JP6816156B2 - Uav軌道を調整するシステム及び方法 - Google Patents
Uav軌道を調整するシステム及び方法 Download PDFInfo
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Classifications
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- B64U2201/00—UAVs characterised by their flight controls
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- Game Theory and Decision Science (AREA)
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- Traffic Control Systems (AREA)
- User Interface Of Digital Computer (AREA)
Description
Claims (25)
- 無人航空機(UAV)の自律飛行を変更するシステムであって、
前記UAVの自律飛行を行う1つ又は複数の命令を提供する第1のユーザ入力を受信する第1のユーザインタフェースと、
前記UAVの前記自律飛行に対して、方向成分又は速度成分又は加速度成分を追加することにより前記自律飛行を変更する1つ又は複数の命令を提供する第2のユーザ入力を受信する第2のユーザインタフェースと
を備え、
前記第1のユーザインタフェースは第1のデバイスに配置され、前記第2のユーザインタフェースは第2のデバイスに配置されて選択的に接続されることができ、前記第1のデバイスは、前記第2のデバイスに接続されることなく単独で前記UAVの自律飛行を行う1つ又は複数の命令を提供することが可能であり、前記第2のデバイスは、前記第1のデバイスに接続されたとき、前記第1のデバイスと協働して前記自律飛行を変更する1つ又は複数の命令を提供し、前記第2のユーザ入力は、所定の閾値を超えて前記自律飛行の飛経路を変更せず、前記UAVの飛経路が、前記第2のユーザ入力の結果として所定の閾値を超えて自律飛経路から逸脱する場合、前記第2のユーザ入力にも拘わらず、更なる逸脱を阻止し、前記所定の閾値は、前記自律飛経路からの前記UAVの所定の距離又は所定の時間である、システム。 - 前記自律飛行は、ターゲットに向かう飛行、所定の位置への飛行、前記UAVの自律リターン、1つ又は複数のウェイポイントに沿った自律ナビゲーション、対象ポイントへの自律飛行、予め設定される軌道又は予め設定される方向に沿った飛行、自律的に計画された軌道に沿った飛行、ユーザ構成の軌道に沿った飛行、前記第1のユーザインタフェースのマップでタップされた位置への飛行、ターゲット物体を追跡する飛行のいずれかである、請求項1に記載のシステム。
- 前記第1のデバイスは、ハンドヘルドデバイス又はモバイルデバイスであり、前記第2のデバイスは、リモートコントローラ又はハンドヘルドデバイス又はモバイルデバイスである、請求項1に記載のシステム。
- 前記第1のデバイス及び前記第2のデバイスは、無線接続又は有線接続を介して接続される、請求項1に記載のシステム。
- 前記第1のユーザインタフェースはタッチスクリーンを含む、請求項1に記載のシステム。
- 前記第1のユーザインタフェースは、二次元マップ上で前記UAVの位置を表示する、請求項1に記載のシステム。
- 前記第1のユーザインタフェースは、前記UAVに接続されるカメラから受信される画像を表示する、請求項1に記載のシステム。
- 前記第2のユーザインタフェースは、1つ又は複数の作動可能な機構を含む、請求項1に記載のシステム。
- 前記1つ又は複数の機構は、1つ又は複数の制御スティックを含む、請求項8に記載のシステム。
- 前記1つ又は複数の制御スティックは、ロール軸の回りの前記UAVの回転に作用するように構成されるロールスティックを含む、請求項9に記載のシステム。
- 前記1つ又は複数の制御スティックの作動は、前記UAVの自律飛経路に直交する方向成分又は速度成分又は加速度成分を追加するように構成され、前記追加される方向成分又は速度成分又は加速度成分は水平面に沿う、請求項9に記載のシステム。
- 前記作動の程度は、前記方向成分又は速度成分又は加速度成分の大きさに対応する、請求項11に記載のシステム。
- 前記1つ又は複数の制御スティックは、ヨー軸の回りの前記UAVの回転に作用するように構成されるヨースティックを含む、請求項9に記載のシステム。
- 前記1つ又は複数の制御スティックの作動は、前記UAVに向心加速度を追加するように構成される、請求項9に記載のシステム。
- 前記作動の程度は、前記UAVの軌道弧の半径のサイズに逆に対応する、請求項14に記載のシステム。
- 前記1つ又は複数の制御スティックは、前記自律飛行の停止に使用される、請求項9に記載のシステム。
- 前記第1のユーザインタフェースは、前記UAVの自律飛経路又は変更飛行経路を表示する、請求項1に記載のシステム。
- 前記第2のユーザ入力は、前記第2のユーザ入力の持続時間にわたり、前記UAVの前記自律飛行を変更する、請求項1〜17のいずれか一項に記載のシステム。
- 前記第2のユーザ入力は、前記UAVの高度、前記UAVの軌道、前記UAVの速度、前記UAVの加速度のいずれかを変更する、請求項1〜18のいずれか一項に記載のシステム。
- 前記UAVの前記自律飛行は、環境要因を更に考慮して変更される、請求項1〜19のいずれか一項に記載のシステム。
- 前記環境要因は、前記UAVに搭載される1つ又は複数のセンサに基づいて特定される、請求項20に記載のシステム。
- 前記UAVの前記自律飛行は、前記第2のユーザ入力を考慮に入れる飛行コントローラにより変更される、請求項1〜21のいずれか一項に記載のシステム。
- 前記第2のユーザ入力を受信し、リリースした後、前記UAVは、前記UAVの前記自律飛行を変更する前記1つ又は複数の命令を受信する前に飛行していた飛経路に沿って飛行する、又は、前記UAVの前記自律飛行を変更する前記1つ又は複数の命令を受信する前に飛行していた飛経路とは異なる新しい飛経路に沿って飛行する、請求項1〜22のいずれか一項に記載のシステム。
- 請求項1〜23のいずれか一項に記載のシステムを有する無人航空機(UAV)の自律飛行を変更する方法であって、
第1のユーザ入力を第1のユーザインタフェースにおいて受信することであって、前記第1のユーザ入力は、前記UAVの自律飛行を行う1つ又は複数の命令を提供する、第1のユーザ入力を受信することと、
第2のユーザ入力を第2のユーザインタフェースにおいて受信することであって、前記第2のユーザ入力は、前記UAVの前記自律飛行を変更する1つ又は複数の命令を提供する、第2のユーザ入力を受信することと
を含む、方法。 - 請求項1〜23のいずれか一項に記載のシステムを有する無人航空機(UAV)の自律飛行を変更する非一時的コンピュータ可読媒体であって、
第1のユーザ入力を第1のユーザインタフェースにおいて受信することであって、前記第1のユーザ入力は、前記UAVの自律飛行を行う1つ又は複数の命令を提供する、第1のユーザ入力を受信することと、
第2のユーザ入力を第2のユーザインタフェースにおいて受信することであって、前記第2のユーザ入力は、前記UAVの前記自律飛行を変更する1つ又は複数の命令を提供する、第2のユーザ入力を受信することと
を行うコード、論理、又は命令を含む、非一時的コンピュータ可読媒体。
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PCT/CN2016/074686 WO2017143588A1 (en) | 2016-02-26 | 2016-02-26 | Systems and methods for adjusting uav trajectory |
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JP2020186786A Division JP2021036452A (ja) | 2020-11-09 | 2020-11-09 | Uav軌道を調整するシステム及び方法 |
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JP2019507924A JP2019507924A (ja) | 2019-03-22 |
JP6816156B2 true JP6816156B2 (ja) | 2021-01-20 |
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US (2) | US11008098B2 (ja) |
EP (3) | EP4361038A3 (ja) |
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EP3783454A1 (en) | 2021-02-24 |
US20180362158A1 (en) | 2018-12-20 |
EP4361038A3 (en) | 2024-06-12 |
EP3398022A1 (en) | 2018-11-07 |
US11932392B2 (en) | 2024-03-19 |
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